METHOD FOR COMPUTER-AIDED MOVEMENT PLANNING OF A ROBOT

• US 20090271035A1
• Filed: 04/28/2009
• Published: 10/29/2009
• Est. Priority Date: 04/29/2008
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Neubauer, Werner, Lurz, Winfried, Schonborn, Manfred
• Granted Patent: US 8,660,694 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 6/4458 the source unit or the detector unit being attached to robotic arms
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: G05B 2219/40495 Inverse kinematics model controls trajectory planning and servo system
• CPC Class Codes: G05B 2219/45117 Medical, radio surgery manipulator

Abstract

A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.

Claims

1-14. -14. (canceled)

15. A method for planning a movement of a robot, comprising:

translating a spatial position of a spatial point of the movement into a respective configuration position in a configuration room of the robot based on an inverse kinematics;

describing the respective configuration position by a movement axis of the robot;

checking the respective configuration position for a collision; and

calculating a trajectory along the spatial position so that the respective configuration position of the trajectory is collision-free.

16. The method as claimed in claim 15, wherein the spatial point is a tool center point of the robot.

17. The method as claimed in claim 15, wherein the movement is planned in a fixed coordinates system.

18. The method as claimed in claim 17, wherein the fixed coordinates system is a Cartesian coordinates system.

19. The method as claimed in claim 18, wherein the movement is a three-dimensional movement.

20. The method as claimed in claim 15, wherein the trajectory is calculated by a straight trajectory element between different spatial positions of the spatial point.

21. The method as claimed in claim 15, wherein if no respective configuration position is translated for the spatial position of the spatial point, the spatial position is not taken into consideration for the planning.

22. The method as claimed in claim 15, wherein if a plurality of respective configuration positions that are possible for the spatial position of the spatial point are translated, one of the respective configuration positions is selected according to a predetermined criteria.

23. The method as claimed in claim 22, wherein the selected respective configuration position has a lowest distance from a respective configuration position of the spatial point previously lying on the trajectory.

24. The method as claimed in claim 15, wherein the method comprises a probabilistic planning method, a control-based planning method, and a potential field planning method.

25. The method as claimed in claim 15, wherein the robot moves a robotic medical device.

26. The method as claimed in claim 25, wherein the robotic medical device is a robot-controlled C-arm and the spatial point is an isocenter of the C-arm.

27. The method as claimed in claim 15, wherein the respective configuration position is described by a rotatory or a translational axis.

28. The method as claimed in claim 15, wherein the movement is computer-aided.

29. A device for planning a movement of a robot, comprising:

a translating processor that translates a spatial position of a spatial point of the movement into a respective configuration position in a configuration room of the robot based on an inverse kinematics, the respective configuration position being described by a movement axis of the robot;

a testing processor that tests the respective configuration position for a collision; and

a computing processor that calculates a trajectory along the spatial position of the spatial point so that the respective configuration position of the trajectory is collision-free.

30. A robotic medical device, comprising:

a robot that moves the robotic medical device in a trajectory along a spatial position of a spatial point of the movement; and

a processor that;

translates the spatial position into a respective configuration position in a configuration room of the robot based on an inverse kinematics, the respective configuration position being described by a movement axis of the robot,

tests the respective configuration position for a collision, and

calculates the trajectory along the spatial position of the spatial point so that the respective configuration position of the trajectory is collision-free.